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https://github.com/facebookresearch/pytorch3d.git
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Write meshes to GLB
Summary: Write the amalgamated mesh from the Mesh module to glb. In this version, the json header and the binary data specified by the buffer are merged into glb. The image texture attributes are added. Reviewed By: bottler Differential Revision: D41489778 fbshipit-source-id: 3af0e9a8f9e9098e73737a254177802e0fb6bd3c
This commit is contained in:
Jiali Duan
Facebook GitHub Bot
parent
dba48fb410
commit
cc2840eb44
@ -39,7 +39,7 @@ import json
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import struct
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import warnings
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from base64 import b64decode
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from collections import deque
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from collections import defaultdict, deque
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from enum import IntEnum
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from io import BytesIO
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from typing import Any, BinaryIO, cast, Dict, List, Optional, Tuple, Union
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@ -102,6 +102,27 @@ _ELEMENT_SHAPES: Dict[str, _ElementShape] = {
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"MAT4": (4, 4),
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}
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_DTYPE_BYTES: Dict[Any, int] = {
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np.int8: 1,
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np.uint8: 1,
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np.int16: 2,
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np.uint16: 2,
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np.uint32: 4,
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np.float32: 4,
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}
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class _TargetType(IntEnum):
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ARRAY_BUFFER = 34962
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ELEMENT_ARRAY_BUFFER = 34963
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class OurEncoder(json.JSONEncoder):
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def default(self, obj):
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if isinstance(obj, np.int64):
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return str(obj)
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return super(OurEncoder, self).default(obj)
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def _read_header(stream: BinaryIO) -> Optional[Tuple[int, int]]:
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header = stream.read(12)
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@ -109,7 +130,6 @@ def _read_header(stream: BinaryIO) -> Optional[Tuple[int, int]]:
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if magic != _GLTF_MAGIC:
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return None
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return version, length
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@ -227,7 +247,6 @@ class _GLTFLoader:
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offset = buffer_view.get("byteOffset", 0)
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binary_data = self.get_binary_data(buffer_view["buffer"])
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bytesio = BytesIO(binary_data[offset : offset + length].tobytes())
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with Image.open(bytesio) as f:
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array = np.array(f)
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@ -521,6 +540,223 @@ def load_meshes(
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return names_meshes_list
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class _GLTFWriter:
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def __init__(self, data: Meshes, buffer_stream: BinaryIO) -> None:
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self._json_data = defaultdict(list)
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self.mesh = data
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self.buffer_stream = buffer_stream
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# initialize json with one scene and one node
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scene_index = 0
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# pyre-fixme[6]: Incompatible parameter type
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self._json_data["scene"] = scene_index
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self._json_data["scenes"].append({"nodes": [scene_index]})
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self._json_data["asset"] = {"version": "2.0"}
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node = {"name": "Node", "mesh": 0}
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self._json_data["nodes"].append(node)
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# mesh primitives
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meshes = defaultdict(list)
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# pyre-fixme[6]: Incompatible parameter type
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meshes["name"] = "Node-Mesh"
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primitives = {
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"attributes": {"POSITION": 0, "TEXCOORD_0": 2},
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"indices": 1,
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"material": 0, # default material
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"mode": _PrimitiveMode.TRIANGLES,
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}
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meshes["primitives"].append(primitives)
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self._json_data["meshes"].append(meshes)
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# default material
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material = {
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"name": "material_1",
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"pbrMetallicRoughness": {
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"baseColorTexture": {"index": 0},
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"baseColorFactor": [1, 1, 1, 1],
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"metallicFactor": 0,
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"roughnessFactor": 0.99,
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},
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"emissiveFactor": [0, 0, 0],
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"alphaMode": "OPAQUE",
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}
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self._json_data["materials"].append(material)
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# default sampler
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sampler = {"magFilter": 9729, "minFilter": 9986, "wrapS": 10497, "wrapT": 10497}
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self._json_data["samplers"].append(sampler)
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# default textures
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texture = {"sampler": 0, "source": 0}
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self._json_data["textures"].append(texture)
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def _write_accessor_json(self, key: str) -> Tuple[int, np.ndarray]:
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name = "Node-Mesh_%s" % key
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byte_offset = 0
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if key == "positions":
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data = self.mesh.verts_packed().cpu().numpy()
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component_type = _ComponentType.FLOAT
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element_type = "VEC3"
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buffer_view = 0
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element_min = list(map(float, np.min(data, axis=0)))
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element_max = list(map(float, np.max(data, axis=0)))
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byte_per_element = 3 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.FLOAT]]
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elif key == "texcoords":
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component_type = _ComponentType.FLOAT
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data = self.mesh.textures.verts_uvs_list()[0].cpu().numpy()
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data[:, 1] = 1 - data[:, -1] # flip y tex-coordinate
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element_type = "VEC2"
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buffer_view = 2
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element_min = list(map(float, np.min(data, axis=0)))
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element_max = list(map(float, np.max(data, axis=0)))
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byte_per_element = 2 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.FLOAT]]
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elif key == "indices":
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component_type = _ComponentType.UNSIGNED_SHORT
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data = (
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self.mesh.faces_packed()
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.cpu()
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.numpy()
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.astype(_ITEM_TYPES[component_type])
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)
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element_type = "SCALAR"
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buffer_view = 1
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element_min = list(map(int, np.min(data, keepdims=True)))
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element_max = list(map(int, np.max(data, keepdims=True)))
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byte_per_element = (
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3 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.UNSIGNED_SHORT]]
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)
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else:
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raise NotImplementedError(
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"invalid key accessor, should be one of positions, indices or texcoords"
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)
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count = int(data.shape[0])
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byte_length = count * byte_per_element
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accessor_json = {
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"name": name,
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"componentType": component_type,
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"type": element_type,
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"bufferView": buffer_view,
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"byteOffset": byte_offset,
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"min": element_min,
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"max": element_max,
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"count": count * 3 if key == "indices" else count,
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}
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self._json_data["accessors"].append(accessor_json)
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return (byte_length, data)
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def _write_bufferview(self, key: str, **kwargs):
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if key not in ["positions", "texcoords", "indices"]:
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raise ValueError("key must be one of positions, texcoords or indices")
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bufferview = {
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"name": "bufferView_%s" % key,
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"buffer": 0,
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}
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target = _TargetType.ARRAY_BUFFER
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if key == "positions":
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byte_per_element = 3 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.FLOAT]]
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bufferview["byteStride"] = int(byte_per_element)
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elif key == "texcoords":
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byte_per_element = 2 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.FLOAT]]
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target = _TargetType.ARRAY_BUFFER
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bufferview["byteStride"] = int(byte_per_element)
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elif key == "indices":
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byte_per_element = (
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3 * _DTYPE_BYTES[_ITEM_TYPES[_ComponentType.UNSIGNED_SHORT]]
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)
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target = _TargetType.ELEMENT_ARRAY_BUFFER
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bufferview["target"] = target
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bufferview["byteOffset"] = kwargs.get("offset")
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bufferview["byteLength"] = kwargs.get("byte_length")
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self._json_data["bufferViews"].append(bufferview)
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def _write_image_buffer(self, **kwargs) -> Tuple[int, bytes]:
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image_np = self.mesh.textures.maps_list()[0].cpu().numpy()
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image_array = (image_np * 255.0).astype(np.uint8)
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im = Image.fromarray(image_array)
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with BytesIO() as f:
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im.save(f, format="PNG")
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image_data = f.getvalue()
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image_data_byte_length = len(image_data)
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bufferview_image = {
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"buffer": 0,
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}
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bufferview_image["byteOffset"] = kwargs.get("offset")
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bufferview_image["byteLength"] = image_data_byte_length
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self._json_data["bufferViews"].append(bufferview_image)
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image = {"name": "texture", "mimeType": "image/png", "bufferView": 3}
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self._json_data["images"].append(image)
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return (image_data_byte_length, image_data)
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def save(self):
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# check validity of mesh
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if self.mesh.verts_packed() is None or self.mesh.faces_packed() is None:
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raise ValueError("invalid mesh to save, verts or face indices are empty")
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# accessors for positions, texture uvs and face indices
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pos_byte, pos_data = self._write_accessor_json("positions")
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idx_byte, idx_data = self._write_accessor_json("indices")
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include_textures = False
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if (
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self.mesh.textures is not None
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and self.mesh.textures.verts_uvs_list()[0] is not None
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):
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tex_byte, tex_data = self._write_accessor_json("texcoords")
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include_textures = True
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# bufferViews for positions, texture coords and indices
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byte_offset = 0
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self._write_bufferview("positions", byte_length=pos_byte, offset=byte_offset)
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byte_offset += pos_byte
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self._write_bufferview("indices", byte_length=idx_byte, offset=byte_offset)
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byte_offset += idx_byte
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if include_textures:
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self._write_bufferview(
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"texcoords", byte_length=tex_byte, offset=byte_offset
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)
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byte_offset += tex_byte
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# image bufferView
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include_image = False
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if (
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self.mesh.textures is not None
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and self.mesh.textures.maps_list()[0] is not None
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):
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include_image = True
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image_byte, image_data = self._write_image_buffer(offset=byte_offset)
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byte_offset += image_byte
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# buffers
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self._json_data["buffers"].append({"byteLength": int(byte_offset)})
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# organize into a glb
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json_bytes = bytes(json.dumps(self._json_data, cls=OurEncoder), "utf-8")
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json_length = len(json_bytes)
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# write header
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header = struct.pack("<III", _GLTF_MAGIC, 2, json_length + byte_offset)
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self.buffer_stream.write(header)
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# write json
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self.buffer_stream.write(struct.pack("<II", json_length, _JSON_CHUNK_TYPE))
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self.buffer_stream.write(json_bytes)
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# write binary data
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self.buffer_stream.write(struct.pack("<II", byte_offset, _BINARY_CHUNK_TYPE))
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self.buffer_stream.write(pos_data)
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self.buffer_stream.write(idx_data)
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if include_textures:
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self.buffer_stream.write(tex_data)
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if include_image:
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self.buffer_stream.write(image_data)
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class MeshGlbFormat(MeshFormatInterpreter):
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"""
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Implements loading meshes from glTF 2 assets stored in a
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@ -570,4 +806,21 @@ class MeshGlbFormat(MeshFormatInterpreter):
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binary: Optional[bool],
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**kwargs,
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) -> bool:
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return False
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"""
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Writes all the meshes from the default scene to GLB file.
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Args:
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data: meshes to save
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path: path of the GLB file to write into
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path_manager: PathManager object for interpreting the path
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Return True if saving succeeds and False otherwise
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"""
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if not endswith(path, self.known_suffixes):
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return False
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with _open_file(path, path_manager, "wb") as f:
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writer = _GLTFWriter(data, cast(BinaryIO, f))
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writer.save()
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return True
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@ -29,6 +29,7 @@ from pytorch3d.renderer.mesh import (
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)
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from pytorch3d.structures import Meshes
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from pytorch3d.transforms import axis_angle_to_matrix
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from pytorch3d.utils import ico_sphere
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from pytorch3d.vis.texture_vis import texturesuv_image_PIL
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from .common_testing import get_pytorch3d_dir, get_tests_dir, TestCaseMixin
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@ -45,6 +46,12 @@ def _load(path, **kwargs) -> Meshes:
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return io.load_mesh(path, **kwargs)
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def _write(mesh, path, **kwargs) -> bool:
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io = IO()
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io.register_meshes_format(MeshGlbFormat())
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return io.save_mesh(mesh, path, **kwargs)
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def _render(
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mesh: Meshes,
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name: str,
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@ -144,9 +151,7 @@ class TestMeshGltfIO(TestCaseMixin, unittest.TestCase):
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self.assertEqual(mesh.faces_packed().shape, (5856, 3))
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self.assertEqual(mesh.verts_packed().shape, (3225, 3))
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mesh_obj = _load(TUTORIAL_DATA_DIR / "cow_mesh/cow.obj")
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self.assertClose(
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mesh_obj.get_bounding_boxes().cpu(), mesh_obj.get_bounding_boxes()
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)
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self.assertClose(mesh.get_bounding_boxes().cpu(), mesh_obj.get_bounding_boxes())
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self.assertClose(
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mesh.textures.verts_uvs_padded().cpu(), mesh_obj.textures.verts_uvs_padded()
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@ -169,6 +174,69 @@ class TestMeshGltfIO(TestCaseMixin, unittest.TestCase):
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self.assertClose(image, expected)
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def test_save_cow(self):
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"""
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Save the cow mesh to a glb file
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"""
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# load cow mesh from a glb file
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glb = DATA_DIR / "cow.glb"
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self.assertTrue(glb.is_file())
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device = torch.device("cuda:0")
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mesh = _load(glb, device=device)
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# save the mesh to a glb file
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glb = DATA_DIR / "cow_write.glb"
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_write(mesh, glb)
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# load again
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glb_reload = DATA_DIR / "cow_write.glb"
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self.assertTrue(glb_reload.is_file())
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device = torch.device("cuda:0")
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mesh_reload = _load(glb_reload, device=device)
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# assertions
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self.assertEqual(mesh_reload.faces_packed().shape, (5856, 3))
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self.assertEqual(mesh_reload.verts_packed().shape, (3225, 3))
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self.assertClose(
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mesh_reload.get_bounding_boxes().cpu(), mesh.get_bounding_boxes().cpu()
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)
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self.assertClose(
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mesh_reload.textures.verts_uvs_padded().cpu(),
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mesh.textures.verts_uvs_padded().cpu(),
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)
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self.assertClose(
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mesh_reload.textures.faces_uvs_padded().cpu(),
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mesh.textures.faces_uvs_padded().cpu(),
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)
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self.assertClose(
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mesh_reload.textures.maps_padded().cpu(), mesh.textures.maps_padded().cpu()
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)
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def test_save_ico_sphere(self):
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"""
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save the ico_sphere mesh in a glb file
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"""
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ico_sphere_mesh = ico_sphere(level=3)
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glb = DATA_DIR / "ico_sphere.glb"
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_write(ico_sphere_mesh, glb)
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# reload the ico_sphere
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device = torch.device("cuda:0")
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mesh_reload = _load(glb, device=device, include_textures=False)
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self.assertClose(
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ico_sphere_mesh.verts_padded().cpu(),
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mesh_reload.verts_padded().cpu(),
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)
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self.assertClose(
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ico_sphere_mesh.faces_padded().cpu(),
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mesh_reload.faces_padded().cpu(),
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)
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def test_load_cow_no_texture(self):
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"""
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Load the cow as converted to a single mesh in a glb file.
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@ -183,9 +251,7 @@ class TestMeshGltfIO(TestCaseMixin, unittest.TestCase):
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self.assertEqual(mesh.faces_packed().shape, (5856, 3))
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self.assertEqual(mesh.verts_packed().shape, (3225, 3))
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mesh_obj = _load(TUTORIAL_DATA_DIR / "cow_mesh/cow.obj")
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self.assertClose(
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mesh_obj.get_bounding_boxes().cpu(), mesh_obj.get_bounding_boxes()
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)
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self.assertClose(mesh.get_bounding_boxes().cpu(), mesh_obj.get_bounding_boxes())
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mesh.textures = TexturesVertex(0.5 * torch.ones_like(mesh.verts_padded()))
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